NDLI: Anti-sideslip path tracking of wheeled mobile robots based on fuzzy model predictive control

Content Provider	IET Digital Library
Author	Bai, Guoxing Meng, Yu Liu, Li Luo, Weidong Gu, Qing Li, Kailun
Abstract	When a wheeled mobile robot is travelling at high longitudinal velocities and turning, it may sideslip. Except for a few researchers, this issue has not received much attention. However, there is a high possibility that sideslip may cause danger, so the authors think this problem needs to be solved urgently. The mechanism of preventing sideslip is simple, which is to reduce the longitudinal velocity of the robot when turning. But, how to slow down is a question worth studying. To this end, they have proposed two schemes, but these two schemes have poor real-time performance and poor robustness to positioning errors, respectively. In order to solve the above problems, considering that the real-time and robustness of fuzzy control are very good, they propose a controller by combining robust control and model predictive control in this Letter. The fuzzy control is used to adjust the longitudinal velocity according to the state of the robot, and the model predictive control is used to achieve path tracking. According to the simulation results, the proposed fuzzy model predictive controller does have small errors, small sideslip, good real-time performance, and good robustness to positioning errors.
Starting Page	490
Ending Page	493
Page Count	4
ISSN	00135194
Volume Number	56
e-ISSN	1350911X
Issue Number	Issue 10, May (2020)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/el/56/10
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/el.2019.4019
Journal	Electronics Letters
Publisher Date	2020-02-27
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Anti-sideslip Path Tracking Control System Analysis Control System Synthesis Fuzzy Control Fuzzy Model Predictive Control Fuzzy Model Predictive Controller High Longitudinal Velocities High Possibility Longitudinal Velocity Mobile Robots Optimal Control Path Planning Position Control Positioning Error Predictive Control Real-time Performance Robust Control Spatial Variables Control Stability in Control Theory Synthesis Method Tracking Wheeled Mobile Robot
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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